6 papers
High Order Tuners for Adaptive Safety of Robotic Systems
Mohammad Mirtaba, Max H. Cohen
The combination of control barrier functions (CBFs) and adaptive control -- a framework referred to as adaptive safety -- has proven to be a powerful paradigm for safety-critical c…
Low-Order Controller Design for Aeroelastic Vibration Suppression
Mohammad Mirtaba, Juan Augusto Paredes Salazar, Daning Huang +1
This paper presents an minimization-based output-feedback controller for active aeroelastic vibration suppression in a cantilevered beam. First…
Continuous-Time Output Feedback Adaptive Control for Stabilization and Tracking with Experimental Results
Mohammad Mirtaba, Ankit Goel
This paper presents a continuous-time output feedback adaptive control technique for stabilization and tracking control problems. The adaptive controller is motivated by the classi…
Single-Shot Learning of Multirotor Controller Gains: A Data-Driven Approach with Experimental Validation
Mohammad Mirtaba, Parham Oveissi, Juan Augusto Paredes Salaza +1
This paper demonstrates the single-shot learning capabilities of retrospective cost optimization based data-driven control applied to learning multirotor controller gains for traje…
Adaptive Control of Dual-Rotor Rotational System with Unknown Geometry and Unknown Inertia
Mohammad Mirtaba, Jhon Manuel Portella Delgado, Ankit Goel
This paper develops an input-output feedback linearization-based adaptive controller to stabilize and regulate a dual-rotor rotational system (DRRS), whose inertial properties as w…
Learning-based Attitude Estimation with Noisy Measurements and Unknown Gyro Bias
Parham Oveissi, Mohammad Mirtaba, Ankit Goel
This paper introduces a learning-based, data-driven attitude estimator, called the retrospective cost attitude estimator (RCAE), for the SO(3) attitude representation. RCAE is moti…